{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/139481"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/139481","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Generalizable Modelling of Vacuum-Powered Soft Actuators And Its Use in Design for Mechanical Assistive Applications","abstract":"In this thesis, we present a generalized modeling tool for predicting the output force profile of vacuum-powered soft actuators using a simplified geometrical approach and the principle of virtual work. Previous work has derived analytical formulas to model the force-contraction profile of specific actuators. To enhance the versatility and the efficiency of the modelling process we propose a generalized numerical algorithm based purely on geometrical inputs, which can be tailored to the desired actuator, to estimate its force-contraction profile quickly and for any combination of varying geometrical parameters. We identify a class of linearly contracting vacuum actuators that consists of a polymeric skin guided by a rigid skeleton and apply our model to two such actuators - vacuum bellows and Fluid-driven Origami-inspired Artificial Muscles (FOAMs) - to demonstrate the versatility of our model. We perform experiments to validate that our model can predict the force profile of the actuators using its geometric principles, modularly combined with design-specific external adjustment factors. Our framework can be used as a versatile design tool that allows users to perform parametric studies and rapidly and efficiently tune actuator dimensions to produce a force-contraction profile to meet their needs, and as a pre-screening tool to obviate the need for multiple rounds of time-intensive actuator fabrication and testing. The work presented here was published in Frontiers in Robotics and AI on 03 March 2021, “A Modular Geometrical Framework for Modelling the Force-Contraction Profile of Vacuum-Powered Soft Actuators,” by S. Gollob et al. Figures reproduced from this work are referenced following the journal's open-access Creative Commons practices.","abstract_html":"In this thesis, we present a generalized modeling tool for predicting the output force profile of vacuum-powered soft actuators using a simplified geometrical approach and the principle of virtual work. Previous work has derived analytical formulas to model the force-contraction profile of specific actuators. To enhance the versatility and the efficiency of the modelling process we propose a generalized numerical algorithm based purely on geometrical inputs, which can be tailored to the desired actuator, to estimate its force-contraction profile quickly and for any combination of varying geometrical parameters. We identify a class of linearly contracting vacuum actuators that consists of a polymeric skin guided by a rigid skeleton and apply our model to two such actuators - vacuum bellows and Fluid-driven Origami-inspired Artificial Muscles (FOAMs) - to demonstrate the versatility of our model. We perform experiments to validate that our model can predict the force profile of the actuators using its geometric principles, modularly combined with design-specific external adjustment factors. Our framework can be used as a versatile design tool that allows users to perform parametric studies and rapidly and efficiently tune actuator dimensions to produce a force-contraction profile to meet their needs, and as a pre-screening tool to obviate the need for multiple rounds of time-intensive actuator fabrication and testing. The work presented here was published in Frontiers in Robotics and AI on 03 March 2021, “A Modular Geometrical Framework for Modelling the Force-Contraction Profile of Vacuum-Powered Soft Actuators,” by S. Gollob et al. Figures reproduced from this work are referenced following the journal's open-access Creative Commons practices.","abstract_has_math":false,"creators":["Gollob, Samuel Dutra"],"institution":"Massachusetts Institute of Technology","degree_name":"Master","degree_level":null,"degree_discipline":null,"degree_department":"Massachusetts Institute of Technology. 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Previous work has derived analytical formulas to model the force-contraction profile of specific actuators. To enhance the versatility and the efficiency of the modelling process we propose a generalized numerical algorithm based purely on geometrical inputs, which can be tailored to the desired actuator, to estimate its force-contraction profile quickly and for any combination of varying geometrical parameters. We identify a class of linearly contracting vacuum actuators that consists of a polymeric skin guided by a rigid skeleton and apply our model to two such actuators - vacuum bellows and Fluid-driven Origami-inspired Artificial Muscles (FOAMs) - to demonstrate the versatility of our model. We perform experiments to validate that our model can predict the force profile of the actuators using its geometric principles, modularly combined with design-specific external adjustment factors. Our framework can be used as a versatile design tool that allows users to perform parametric studies and rapidly and efficiently tune actuator dimensions to produce a force-contraction profile to meet their needs, and as a pre-screening tool to obviate the need for multiple rounds of time-intensive actuator fabrication and testing. The work presented here was published in Frontiers in Robotics and AI on 03 March 2021, “A Modular Geometrical Framework for Modelling the Force-Contraction Profile of Vacuum-Powered Soft Actuators,” by S. Gollob et al. Figures reproduced from this work are referenced following the journal's open-access Creative Commons practices."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["S.M."]},{"key":"dc:title","label":"Title","values":["Generalizable Modelling of Vacuum-Powered Soft Actuators And Its Use in Design for Mechanical Assistive Applications"]}]}],"canonical_facts":{"dc:contributor.advisor":["Roche, Ellen"],"dc:contributor.department":["Massachusetts Institute of Technology. Department of Mechanical Engineering"],"dc:creator":["Gollob, Samuel Dutra"],"dc:date.accessioned":["2022-01-14T15:14:33Z"],"dc:date.available":["2022-01-14T15:14:33Z"],"dc:date.issued":["2021-06"],"dc:description.abstract":["In this thesis, we present a generalized modeling tool for predicting the output force profile of vacuum-powered soft actuators using a simplified geometrical approach and the principle of virtual work. 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Our framework can be used as a versatile design tool that allows users to perform parametric studies and rapidly and efficiently tune actuator dimensions to produce a force-contraction profile to meet their needs, and as a pre-screening tool to obviate the need for multiple rounds of time-intensive actuator fabrication and testing. The work presented here was published in Frontiers in Robotics and AI on 03 March 2021, “A Modular Geometrical Framework for Modelling the Force-Contraction Profile of Vacuum-Powered Soft Actuators,” by S. Gollob et al. 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